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- Server
- ======
- $ linuxcnc /home/pi/linuxcnc/configs/test1_server/test1.ini
- LINUXCNC - 2.10.0~pre0
- Machine configuration directory is '/home/pi/linuxcnc/configs/test1_server'
- Machine configuration file is 'test1.ini'
- Starting LinuxCNC...
- (time=1696333668.729680,pid=923052): Registering server on TCP port 5005.
- (time=1696333668.733237,pid=923052): running server for TCP port 5005 (connection_socket = 3).
- linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
- Note: Using POSIX non-realtime
- Found file(REL): ./test1.hal
- Raspberry Pi 4 Model B Rev 1.5 found
- 4 cores rev 17
- rpi 4 detected
- HAL_PI_GPIO: installed driver
- STEPGEN: installed 3 step pulse generators
- PWMGEN: installed 1 PWM/PDM generators
- Found file(REL): ./custom.hal
- MOTION: setting Traj cycle time to 105000 nsecs
- MOTION: setting Servo cycle time to 0 nsecs
- task: machine: 'test1' version 'unknown'
- DUMMY DISPLAY MODULE, press <ENTER> to continue.
- emcTaskOnce: Python plugin configured
- emcTaskOnce: extract(task_instance): KeyError: 'task'
- emcTaskOnce: no Python Task() instance available, using default iocontrol-based task methods
- emcTrajSetJoints(3) returned 0
- emcTrajSetSpindles(1) returned 0
- emcTrajSetAxes(3, 7)
- emcTrajSetUnits(1.0000, 1.0000)
- emcTrajSetVelocity(0.0000, 2.5000) returned 0
- emcTrajSetMaxVelocity(25.0000) returned 0
- emcTrajSetAcceleration(1e+99) returned 0
- emcTrajSetMaxAcceleration(1e+99)
- emcTrajSetHome(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000) returned 0
- emcJointSetType(0, 1)
- emcJointSetUnits(0, 1.0000)
- emcJointSetBacklash(0, 0.0000) returned 0
- emcJointSetMinPositionLimit(0, -0.001) returned 0
- emcJointSetMaxPositionLimit(0, 259) returned 0
- emcJointSetFerror(0, 1.0000) returned 0
- emcJointSetMinFerror(0, 0.2500) returned 0
- emcJointSetHomingParams(0, 0.0000, 0.0000, -1.0000, 0.0000, 0.0000, 0, 0, 0, 999, 0) returned 0
- emcJointSetMaxVelocity(0, 23.7502) returned 0
- emcJointSetMaxAcceleration(0, 750) returned 0
- emcJointActivate(0) returned 0
- emcJointSetType(1, 1)
- emcJointSetUnits(1, 1.0000)
- emcJointSetBacklash(1, 0.0000) returned 0
- emcJointSetMinPositionLimit(1, -0.001) returned 0
- emcJointSetMaxPositionLimit(1, 170) returned 0
- emcJointSetFerror(1, 1.0000) returned 0
- emcJointSetMinFerror(1, 0.2500) returned 0
- emcJointSetHomingParams(1, 0.0000, 0.0000, -1.0000, 0.0000, 0.0000, 0, 0, 0, 999, 0) returned 0
- emcJointSetMaxVelocity(1, 23.7502) returned 0
- emcJointSetMaxAcceleration(1, 750) returned 0
- emcJointActivate(1) returned 0
- emcJointSetType(2, 1)
- emcJointSetUnits(2, 1.0000)
- emcJointSetBacklash(2, 0.0000) returned 0
- emcJointSetMinPositionLimit(2, -0.001) returned 0
- emcJointSetMaxPositionLimit(2, 40) returned 0
- emcJointSetFerror(2, 1.0000) returned 0
- emcJointSetMinFerror(2, 0.2500) returned 0
- emcJointSetHomingParams(2, 0.0000, 0.0000, -1.0000, 0.0000, 0.0000, 0, 0, 0, 999, 0) returned 0
- emcJointSetMaxVelocity(2, 23.7502) returned 0
- emcJointSetMaxAcceleration(2, 750) returned 0
- emcJointActivate(2) returned 0
- emcAxisSetMinPositionLimit(0, -0.0010) returned 0
- emcAxisSetMaxPositionLimit(0, 259.0000) returned 0
- emcAxisSetMaxVelocity(0, 23.7502) returned 0
- emcAxisSetMaxAcceleration(0, 750.0000) returned 0
- emcAxisSetLockingJoint(0, -1) returned 0
- emcAxisSetMinPositionLimit(1, -0.0010) returned 0
- emcAxisSetMaxPositionLimit(1, 160.0000) returned 0
- emcAxisSetMaxVelocity(1, 23.7502) returned 0
- emcAxisSetMaxAcceleration(1, 750.0000) returned 0
- emcAxisSetLockingJoint(1, -1) returned 0
- emcAxisSetMinPositionLimit(2, -0.0010) returned 0
- emcAxisSetMaxPositionLimit(2, 40.0000) returned 0
- emcAxisSetMaxVelocity(2, 23.7502) returned 0
- emcAxisSetMaxAcceleration(2, 750.0000) returned 0
- emcAxisSetLockingJoint(2, -1) returned 0
- emcSpindleSetParams(0, 1.000000e+99, 0.000000e+00, 0.000000e+00, -1.000000e+99, 0.000000, 0.000000, 0, 100.000000) returned 0
- NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=112,type=EMC_TRAJ_SET_TERM_COND}) : list_size=1, line_number=0
- NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=176,type=EMC_TRAJ_SET_G5X}) : list_size=2, line_number=0
- NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=168,type=EMC_TRAJ_SET_G92}) : list_size=3, line_number=0
- NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=104,type=EMC_TRAJ_SET_ROTATION}) : list_size=4, line_number=0
- emcTaskPlanInit() returned 0
- NML_INTERP_LIST(0x55694bbbd8)::get(): {size=112, type=EMC_TRAJ_SET_TERM_COND}, list_size=3
- emcTaskPlanLevel() returned 0
- Issuing EMC_TRAJ_SET_TERM_COND -- ( +222,+112, +0, +2,0.025400,)
- NML_INTERP_LIST(0x55694bbbd8)::get(): {size=176, type=EMC_TRAJ_SET_G5X}, list_size=2
- emcTaskPlanLevel() returned 0
- Issuing EMC_TRAJ_SET_G5X -- ( +224,+176, +0, +1,54.702235,41.663668,8.192091,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,)
- NML_INTERP_LIST(0x55694bbbd8)::get(): {size=168, type=EMC_TRAJ_SET_G92}, list_size=1
- emcTaskPlanLevel() returned 0
- Issuing EMC_TRAJ_SET_G92 -- ( +227,+168, +0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,)
- NML_INTERP_LIST(0x55694bbbd8)::get(): {size=104, type=EMC_TRAJ_SET_ROTATION}, list_size=0
- emcTaskPlanLevel() returned 0
- Issuing EMC_TRAJ_SET_ROTATION -- ( +226,+104, +0,0.000000,)
- ---------------------------------------------------------------------------------------------------------------------------
- # test1_server/test1.ini (works fine with DISPLAY = axis)
- [EMC]
- MACHINE = test1
- DEBUG = -1
- VERSION = 1.1
- NML_FILE = /home/pi/linuxcnc/configs/test1_server/server.nml
- [DISPLAY]
- DISPLAY = dummy
- [KINS]
- JOINTS = 3
- KINEMATICS = trivkins coordinates=XYZ
- [FILTER]
- PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
- PROGRAM_EXTENSION = .py Python Script
- PROGRAM_EXTENSION = .nc,.tap G-Code File
- png = image-to-gcode
- gif = image-to-gcode
- jpg = image-to-gcode
- py = python
- [TASK]
- TASK = milltask
- CYCLE_TIME = 0.010
- [RS274NGC]
- PARAMETER_FILE = linuxcnc.var
- [EMCMOT]
- EMCMOT = motmod
- COMM_TIMEOUT = 1.0
- #BASE_PERIOD=9000
- #SERVO_PERIOD=200000
- BASE_PERIOD = 35000
- SERVO_PERIOD = 100000
- [HAL]
- HALFILE = test1.hal
- HALFILE = custom.hal
- POSTGUI_HALFILE = postgui_call_list.hal
- [TRAJ]
- COORDINATES = X Y Z
- LINEAR_UNITS = mm
- ANGULAR_UNITS = degree
- DEFAULT_LINEAR_VELOCITY = 2.5
- MAX_LINEAR_VELOCITY = 25.00
- [EMCIO]
- EMCIO = io
- CYCLE_TIME = 0.100
- TOOL_TABLE = tool.tbl
- #*** AXIS_X *******************************
- [AXIS_X]
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 259.0
- [JOINT_0]
- TYPE = LINEAR
- HOME = 0.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 259.0
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- STEPGEN_MAXACCEL = 937.5
- SCALE = -1605.6
- FERROR = 1
- MIN_FERROR = .25
- HOME_OFFSET = 0.0
- #******************************************
- #*** AXIS_Y *******************************
- [AXIS_Y]
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 160.0
- [JOINT_1]
- TYPE = LINEAR
- HOME = 0.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 170.0
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- STEPGEN_MAXACCEL = 937.5
- SCALE = 1610.5
- FERROR = 1
- MIN_FERROR = .25
- HOME_OFFSET = 0.0
- #******************************************
- #*** AXIS_Z *******************************
- [AXIS_Z]
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 40.0
- [JOINT_2]
- TYPE = LINEAR
- HOME = 0.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 40.0
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- STEPGEN_MAXACCEL = 937.5
- SCALE = 1605
- FERROR = 1
- MIN_FERROR = .25
- HOME_OFFSET = 0.0
- #******************************************
- ---------------------------------------------------------------------------------------------------------------------------
- # server.nml
- # Note: emcsvr is the master for all NML channels, and therefore is the
- # first to start.
- # Buffers
- # Name Type Host size neut? (old) buffer# MP ---
- # Top-level buffers to EMC
- B emcCommand SHMEM 192.168.2.156 8192 0 0 1 16 1001 TCP=5005 xdr queue confirm_write serial
- B emcError SHMEM 192.168.2.156 8192 0 0 3 16 1002 TCP=5005 xdr queue
- B emcStatus SHMEM 192.168.2.156 170000 0 0 2 16 1003 TCP=5005 xdr
- # These are for the IO controller, EMCIO
- B toolCmd SHMEM 192.168.2.156 2048 0 0 4 16 1004 TCP=5005 xdr
- B toolSts SHMEM 192.168.2.156 155648 0 0 5 16 1005 TCP=5005 xdr
- B spindleCmd SHMEM 192.168.2.156 2048 0 0 6 16 1006 TCP=5005 xdr
- B spindleSts SHMEM 192.168.2.156 2048 0 0 7 16 1007 TCP=5005 xdr
- # Processes
- # Name Buffer Type Host Ops server? timeout master? cnum
- P emc emcCommand LOCAL 192.168.2.156 RW 0 1.0 0 0
- P emc emcStatus LOCAL 192.168.2.156 W 0 1.0 0 0
- P emc emcError LOCAL 192.168.2.156 W 0 1.0 0 0
- P emc toolCmd LOCAL 192.168.2.156 W 0 1.0 0 0
- P emc toolSts LOCAL 192.168.2.156 R 0 1.0 0 0
- P emcsvr emcCommand LOCAL 192.168.2.156 W 1 1.0 1 2
- P emcsvr emcStatus LOCAL 192.168.2.156 R 1 1.0 1 2
- P emcsvr emcError LOCAL 192.168.2.156 R 1 1.0 1 2
- P emcsvr toolCmd LOCAL 192.168.2.156 W 1 1.0 1 2
- P emcsvr toolSts LOCAL 192.168.2.156 R 1 1.0 1 2
- P emcsvr default LOCAL 192.168.2.156 RW 1 1.0 1 2
- P tool emcError LOCAL 192.168.2.156 W 0 1.0 0 3
- P tool toolCmd LOCAL 192.168.2.156 RW 0 1.0 0 3
- P tool toolSts LOCAL 192.168.2.156 W 0 1.0 0 3
- P xemc emcCommand REMOTE 192.168.0.107 W 0 1.0 0 10
- P xemc emcStatus REMOTE 192.168.0.107 R 0 1.0 0 10
- P xemc emcError REMOTE 192.168.0.107 R 0 1.0 0 10
- P xemc toolCmd REMOTE 192.168.0.107 W 0 1.0 0 10
- P xemc toolSts REMOTE 192.168.0.107 R 0 1.0 0 10
- ---------------------------------------------------------------------------------------------------------------------------
- Client
- ======
- $ linuxcncrsh -- -ini /home/user/linuxcnc/configs/test1_client/test1.ini
- (time=1696334292.539296,pid=1144709): 0x56367013d090 = NML::operator new(392)
- (time=1696334292.539331,pid=1144709): cms_config arguments:
- (time=1696334292.539337,pid=1144709): bufname = emcCommand
- (time=1696334292.539342,pid=1144709): procname = xemc
- (time=1696334292.539347,pid=1144709): filename = /home/user/linuxcnc/configs/test1_client/client.nml
- (time=1696334292.539391,pid=1144709): cms_config found buffer line on line 9
- (time=1696334292.539405,pid=1144709): cms_config found process line on line 37
- (time=1696334292.539424,pid=1144709): 0x56367013d710 = CMS::new(12344)
- (time=1696334292.539437,pid=1144709): new CMS (emcCommand)
- (time=1696334292.539457,pid=1144709): 0x563670140850 = data = calloc(8192,1);
- (time=1696334292.539486,pid=1144709): Using server on 192.168.2.156 with IP address 192.168.2.156 and port 5005.
- (time=1696334292.539495,pid=1144709): Creating socket . . .
- (time=1696334292.539506,pid=1144709): Setting socket options . . .
- (time=1696334292.539516,pid=1144709): Binding . . .
- (time=1696334292.539535,pid=1144709): Connecting . . .
- (time=1696334292.570513,pid=1144709): wrote 20 bytes to 4
- (time=1696334292.570591,pid=1144709): TCPMEM sending request: fd = 4, serial_number=1, request_type=12, buffer_number=1
- (time=1696334292.573950,pid=1144709): read 40 bytes from 4
- (time=1696334292.573986,pid=1144709): TCPMEM received_reply: fd = 4, serial_number=1, buffer_number=1
- (time=1696334292.574006,pid=1144709): 0x56367013d710 = new TCPMEM(B emcCommand SHMEM 192.168.2.156 8192 0 0 1 16 1001 TCP=5005 xdr queue confirm_write seri
- al
- ,P xemc emcCommand REMOTE 192.168.0.156 W 0 1.0 0 10(time=1696334292.574053,pid=1144709): 0x563670146cb0 = NML::operator new(392)
- (time=1696334292.574075,pid=1144709): cms_config arguments:
- (time=1696334292.574090,pid=1144709): bufname = emcStatus
- (time=1696334292.574104,pid=1144709): procname = xemc
- (time=1696334292.574118,pid=1144709): filename = /home/user/linuxcnc/configs/test1_client/client.nml
- (time=1696334292.574243,pid=1144709): cms_config found buffer line on line 11
- (time=1696334292.574281,pid=1144709): cms_config found process line on line 38
- (time=1696334292.574320,pid=1144709): 0x563670146e80 = CMS::new(12344)
- (time=1696334292.574343,pid=1144709): new CMS (emcStatus)
- (time=1696334292.574395,pid=1144709): 0x7f8746751010 = data = calloc(170000,1);
- (time=1696334292.574681,pid=1144709): Using server on 192.168.2.156 with IP address 192.168.2.156 and port 5005.
- (time=1696334292.574698,pid=1144709): Creating socket . . .
- (time=1696334292.574743,pid=1144709): Setting socket options . . .
- (time=1696334292.574765,pid=1144709): Binding . . .
- (time=1696334292.574787,pid=1144709): Connecting . . .
- (time=1696334292.577518,pid=1144709): wrote 20 bytes to 5
- (time=1696334292.577588,pid=1144709): TCPMEM sending request: fd = 5, serial_number=1, request_type=12, buffer_number=2
- (time=1696334292.581005,pid=1144709): read 40 bytes from 5
- (time=1696334292.581071,pid=1144709): TCPMEM received_reply: fd = 5, serial_number=1, buffer_number=2
- (time=1696334292.581103,pid=1144709): 0x563670146e80 = new TCPMEM(B emcStatus SHMEM 192.168.2.156 170000 0 0 2 16 1003 TCP=5005 xdr
- ,P xemc emcStatus REMOTE 192.168.0.156 R 0 1.0 0 10
- )
- (time=1696334292.581207,pid=1144709): wrote 20 bytes to 5
- (time=1696334292.585921,pid=1144709): read 20 bytes from 5
- (time=1696334292.585957,pid=1144709): TCPMEM received_reply: fd = 5, serial_number=2, buffer_number=2
- (time=1696334292.609678,pid=1144709): read 103884 bytes from 5
- (time=1696334292.609743,pid=1144709): 0x56367014a270 = NML::operator new(392)
- (time=1696334292.609753,pid=1144709): cms_config arguments:
- (time=1696334292.609757,pid=1144709): bufname = emcError
- (time=1696334292.609761,pid=1144709): procname = xemc
- (time=1696334292.609765,pid=1144709): filename = /home/user/linuxcnc/configs/test1_client/client.nml
- (time=1696334292.609823,pid=1144709): cms_config found buffer line on line 10
- (time=1696334292.609836,pid=1144709): cms_config found process line on line 39
- (time=1696334292.609855,pid=1144709): 0x56367014a510 = CMS::new(12344)
- (time=1696334292.609876,pid=1144709): new CMS (emcError)
- (time=1696334292.609898,pid=1144709): 0x56367014d5c0 = data = calloc(8192,1);
- (time=1696334292.609910,pid=1144709): Using server on 192.168.2.156 with IP address 192.168.2.156 and port 5005.
- (time=1696334292.609916,pid=1144709): Creating socket . . .
- (time=1696334292.609929,pid=1144709): Setting socket options . . .
- (time=1696334292.609937,pid=1144709): Binding . . .
- (time=1696334292.609945,pid=1144709): Connecting . . .
- (time=1696334292.612699,pid=1144709): wrote 20 bytes to 6
- (time=1696334292.612726,pid=1144709): TCPMEM sending request: fd = 6, serial_number=1, request_type=12, buffer_number=3
- (time=1696334292.616186,pid=1144709): read 40 bytes from 6
- (time=1696334292.616209,pid=1144709): TCPMEM received_reply: fd = 6, serial_number=1, buffer_number=3
- (time=1696334292.616217,pid=1144709): 0x56367014a510 = new TCPMEM(B emcError SHMEM 192.168.2.156 8192 0 0 3 16 1002 TCP=5005 xdr queue
- ,P xemc emcError REMOTE 192.168.0.156 R 0 1.0 0 10
- )
- (time=1696334292.616255,pid=1144709): wrote 20 bytes to 5
- (time=1696334292.620495,pid=1144709): read 20 bytes from 5
- (time=1696334292.620509,pid=1144709): TCPMEM received_reply: fd = 5, serial_number=3, buffer_number=2
- (time=1696334292.639883,pid=1144709): read 103884 bytes from 5
- ---------------------------------------------------------------------------------------------------------------------------
- # test1_client/test1.ini
- [EMC]
- MACHINE = test1
- DEBUG = -1
- VERSION = 1.1
- NML_FILE = /home/user/linuxcnc/configs/test1_client/client.nml
- [DISPLAY]
- #DISPLAY = axis
- DISPLAY = tklinuxcnc
- EDITOR = gedit
- POSITION_OFFSET = RELATIVE
- POSITION_FEEDBACK = ACTUAL
- ARCDIVISION = 64
- GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
- MAX_FEED_OVERRIDE = 2.0
- MIN_SPINDLE_OVERRIDE = 0.5
- MAX_SPINDLE_OVERRIDE = 1.5
- DEFAULT_LINEAR_VELOCITY = 3.50
- MIN_LINEAR_VELOCITY = 0
- MAX_LINEAR_VELOCITY = 25.00
- CYCLE_TIME = 0.100
- INTRO_GRAPHIC = linuxcnc.gif
- INTRO_TIME = 5
- PROGRAM_PREFIX = /home/pi/linuxcnc/nc_files
- INCREMENTS = 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm
- [KINS]
- JOINTS = 3
- KINEMATICS = trivkins coordinates=XYZ
- [FILTER]
- PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
- PROGRAM_EXTENSION = .py Python Script
- PROGRAM_EXTENSION = .nc,.tap G-Code File
- png = image-to-gcode
- gif = image-to-gcode
- jpg = image-to-gcode
- py = python
- [TASK]
- #TASK = linuxcnctask
- TASK = milltask
- CYCLE_TIME = 1.000
- [RS274NGC]
- PARAMETER_FILE = linuxcnc.var
- [EMCMOT]
- EMCMOT = motmod
- COMM_TIMEOUT = 1.0
- #BASE_PERIOD=9000
- #SERVO_PERIOD=200000
- BASE_PERIOD = 35000
- SERVO_PERIOD = 100000
- [HAL]
- #HALFILE = test1.hal
- #HALFILE = custom.hal
- HALFILE = LIB:basic_sim.tcl
- POSTGUI_HALFILE = postgui_call_list.hal
- [TRAJ]
- COORDINATES = X Y Z
- LINEAR_UNITS = mm
- ANGULAR_UNITS = degree
- DEFAULT_LINEAR_VELOCITY = 2.5
- MAX_LINEAR_VELOCITY = 25.00
- #[EMCIO]
- #EMCIO = io
- #CYCLE_TIME = 0.100
- #TOOL_TABLE = tool.tbl
- #*** AXIS_X *******************************
- [AXIS_X]
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 269.0
- [JOINT_0]
- TYPE = LINEAR
- HOME = 0.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 269.0
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- STEPGEN_MAXACCEL = 937.5
- SCALE = -1605.6
- FERROR = 1
- MIN_FERROR = .25
- HOME_OFFSET = 0.0
- #******************************************
- #*** AXIS_Y *******************************
- [AXIS_Y]
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 160.0
- [JOINT_1]
- TYPE = LINEAR
- HOME = 0.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 170.0
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- STEPGEN_MAXACCEL = 937.5
- SCALE = 1610.5
- FERROR = 1
- MIN_FERROR = .25
- HOME_OFFSET = 0.0
- #******************************************
- #*** AXIS_Z *******************************
- [AXIS_Z]
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 40.0
- [JOINT_2]
- TYPE = LINEAR
- HOME = 0.0
- MIN_LIMIT = -0.001
- MAX_LIMIT = 40.0
- MAX_VELOCITY = 23.750152000972808
- MAX_ACCELERATION = 750.0
- STEPGEN_MAXACCEL = 937.5
- SCALE = 1605
- FERROR = 1
- MIN_FERROR = .25
- HOME_OFFSET = 0.0
- #******************************************
- ---------------------------------------------------------------------------------------------------------------------------
- # client.nml
- # Note: emcsvr is the master for all NML channels, and therefore is the
- # first to start.
- # Buffers
- # Name Type Host size neut? (old) buffer# MP ---
- # Top-level buffers to EMC
- B emcCommand SHMEM 192.168.2.156 8192 0 0 1 16 1001 TCP=5005 xdr queue confirm_write serial
- B emcError SHMEM 192.168.2.156 8192 0 0 3 16 1002 TCP=5005 xdr queue
- B emcStatus SHMEM 192.168.2.156 170000 0 0 2 16 1003 TCP=5005 xdr
- # These are for the IO controller, EMCIO
- B toolCmd SHMEM 192.168.2.156 2048 0 0 4 16 1004 TCP=5005 xdr
- B toolSts SHMEM 192.168.2.156 155648 0 0 5 16 1005 TCP=5005 xdr
- # Processes
- # Name Buffer Type Host Ops server? timeout master? cnum
- P tool emcError REMOTE 192.168.2.156 W 0 1.0 0 3
- P tool toolCmd REMOTE 192.168.2.156 R 0 1.0 0 3
- P tool toolSts REMOTE 192.168.2.156 W 0 1.0 0 3
- P xemc emcCommand REMOTE 192.168.0.156 W 0 1.0 0 10
- P xemc emcStatus REMOTE 192.168.0.156 R 0 1.0 0 10
- P xemc emcError REMOTE 192.168.0.156 R 0 1.0 0 10
- P xemc toolCmd REMOTE 192.168.2.156 W 0 1.0 0 10
- P xemc toolSts REMOTE 192.168.2.156 R 0 1.0 0 10
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